Panzer Dragoon Saga was released for the Sega Saturn in 1998. It is an RPG, unlike other games in the series which were always rail shooters.
The game was released in limited quantities outside of Japan due to poor sales and Sega moving on to the Dreamcast. However, Panzer Dragoon Saga is actually considered one of the most critically acclaimed video games of all time. It had groundbreaking graphics for the time, along with a fantastic story and combat system.
English versions of Panzer Dragoon Saga are extremely rare, the rarest game the Saturn has to offer. It is also the most expensive, topping $350 loose and $650 complete. Factory sealed copies have been known to reach the $1,100 range.